Methods and apparatus for controlling surgical instruments using a port assembly

ABSTRACT

A surgical port assembly for use with surgical instruments includes a body including an exterior surface and an interior space defined by an interior surface of the body. The surgical port assembly includes a control interface including a plurality of drive members coupled to the body and controllable to apply a force to a different portion of a shaft of an surgical instrument, when the shaft is disposed within the interior space, to move a distal portion of the surgical instrument to a desired position within a body cavity.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a U.S. National Stage application filed under 35U.S.C. § 371(a) of International Patent Application No.PCT/US2014/039203, filed May 22, 2014, which claims benefit of, andpriority to, U.S. Provisional Patent Application Ser. No. 61/826,395,filed on May 22, 2013, the entire content of which is incorporatedherein by reference.

BACKGROUND

1. Technical Field

The present disclosure relates to minimally-invasive surgery. Moreparticularly, the present disclosure relates to methods and apparatusfor controlling surgical instruments using a port assembly.

2. Background of Related Art

Surgical techniques and instruments have been developed that allow thesurgeon to perform an increasing range of surgical procedures withminimal incisions into the skin and body tissue of the patient.Minimally-invasive surgery has become widely accepted in many medicalspecialties, often replacing traditional open surgery. Unlike opensurgery, which requires a long incision, minimally-invasive procedures,such as endoscopy or laparoscopy, are performed through one or moreshort incisions, with much less trauma to the body.

In laparoscopic and endoscopic surgical procedures, a small “keyhole”incision or puncture is made in a patient's body, e.g., in the abdomen,to provide an entry point for a surgical access device which is insertedinto the incision and facilitates the insertion of specializedinstruments used in performing surgical procedures within an internalsurgical site. The number of incisions may depend on the type ofsurgery. It is not uncommon for some abdominal operations, e.g.,gallbladder surgery, to be performed through a single incision. In mostpatients, the minimally-invasive approach leads to decreasedpostoperative pain, shorter hospital stay, faster recovery, decreasedincidence of wound-related and pulmonary complications, cost savings byreducing post-operative care, and, in some cases, a better overalloutcome.

Minimally-invasive surgical procedures are performed throughout the bodyand generally rely on obtaining access to an internal surgical sitethrough a relatively small pathway, often less than one centimeter indiameter, to the surgical site. One method of providing such a pathwayis by inserting a cannula and trocar assembly through the skin of thepatient. Commonly, to place the trocar-cannula, the penetrating tip ofthe obturator of the trocar is pushed through the skin and underlyingtissue until the distal end of the cannula is within the body cavity.Alternatively, some trocar devices have a blunt obturator for placingthe cannula through a previously-made incision. Once the trocar has beenproperly positioned, the obturator is removed and the cannula is thenavailable as a pathway between the surgical site and the exterior of thepatient's body through which the surgeon may introduce the varioussurgical instruments required to perform the desired procedures.Surgical instruments insertable through a cannula include forceps,clamps, scissors, probes, flexible or rigid scopes, staplers and cuttinginstruments.

In some procedures, a wall of a body cavity is raised by pressurizationof the body cavity to provide sufficient working space at the surgicalworksite and/or to allow a trocar to penetrate the body cavity withoutpenetrating an organ within the cavity. The process of distending theabdomen wall from the organs enclosed in the abdominal cavity isreferred to as insufflation. During a laparoscopic procedure (endoscopyin the abdominal cavity), insufflation is achieved by introducing aninsufflation gas, such as carbon dioxide, nitrogen, nitrous oxide,helium, argon, or the like, through a Veress needle or other conduitinserted through the abdominal wall, to enlarge the area surrounding thetarget surgical site to create a larger, more accessible work area. Thesurgeon is then able to perform the procedure within the body cavity bymanipulating the instruments that have been extended through thesurgical access devices. The manipulation of such instruments within theinternal body is limited by both spatial constraints and the need tomaintain the body cavity in an insufflated state.

In minimally-invasive surgery, the surgeon does not have directvisualization of the surgical field, and thus minimally-invasivetechniques require specialized skills compared to the corresponding opensurgical techniques. Although minimally-invasive techniques vary widely,surgeons generally rely on a lighted camera at the tip of an endoscopeto view the surgical site, with a monitor displaying a magnified versionof the site for the surgeon to use as a reference during the surgicalprocedure. The surgeon then performs the surgery while visualizing theprocedure on the monitor. The camera is typically controlled by anassistant to the surgeon who is scrubbed into the procedure. In mostinstances, the assistant does not play any other role in the procedureother than to hold and direct the camera so that the surgeon can viewthe surgical site. The camera assistant may have difficultyunderstanding the surgeon's intent, requiring the surgeon either to movethe camera himself or ask the assistant to redirect the camera.

Multi-function robotic surgical systems are available with laparoscopiccamera control. In general, robotic surgical systems are large andbulky, requiring a large amount of space around the patient, and havecomplex, time-consuming setups. Extensive training time is typicallyrequired for surgeons to learn to operate the remotely-controlled,camera-toting devices, and additional specialized training is alsotypically required for the entire operating room team. The extremelyhigh initial cost of purchasing a robotic surgical system as well as therelatively high recurring costs of the instruments and maintenance canmake it prohibitive for many hospitals and health-care centers.

SUMMARY

According to an aspect of the present disclosure, a surgical portassembly for use with surgical instruments is provided. The surgicalport assembly includes a body including an exterior surface, an interiorsurface, and an interior space defined by the interior surface. Thesurgical port assembly includes a control interface including aplurality of drive members coupled to the body and controllable to applya force to a different portion of a shaft of an surgical instrument,when the shaft is disposed within the interior space, to move a distalportion of the surgical instrument to a desired position within a bodycavity.

According to another aspect of the present disclosure, a method ofcontrolling an surgical instrument using a surgical port assembly isprovided. The method includes the steps of sensing a position of adistal portion of a surgical instrument, determining whether a buttondisposed on the surgical instrument is activated, and controlling atleast one drive member disposed in association with a body of a surgicalport to move a distal portion of an surgical instrument to a positionthat is aligned with the sensed position of the distal portion of thesurgical instrument when it is determined that the button is activated.

BRIEF DESCRIPTION OF THE DRAWINGS

Objects and features of the presently-disclosed methods and apparatusfor controlling surgical instruments using a port assembly will becomeapparent to those of ordinary skill in the art when descriptions ofvarious embodiments thereof are read with reference to the accompanyingdrawings, of which:

FIG. 1 is a schematic diagram of a system including a bipolar forcepsand a port assembly coupled to an endoscopic camera in accordance withan embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a port assembly coupled to theendoscopic camera shown in FIG. 1 in accordance with an embodiment ofthe present disclosure;

FIG. 3 is a block diagram of a system including a control interface of aport assembly shown coupled to a portion of the shaft of the endoscopiccamera shown in FIGS. 1 and 2 in accordance with an embodiment of thepresent disclosure;

FIG. 4 is a schematic diagram of a portion of a port assembly coupled tothe endoscopic camera shown in FIG. 1 in accordance with an embodimentof the present disclosure;

FIG. 5 is a schematic diagram of a portion of a port assembly coupled tothe endoscopic camera shown in FIG. 1 in accordance with anotherembodiment of the present disclosure;

FIG. 6 is a flowchart illustrating a method of controlling surgicalinstruments using a port assembly in accordance with an embodiment ofthe present disclosure;

FIG. 7 is a schematic illustration of a surgical system in accordancewith another aspect of the present disclosure;

FIG. 8A is a schematic illustration of port assembly according toanother embodiment of the present disclosure, shown with an elongatesurgical instrument shaft extending therethrough;

FIG. 8B is an enlarged schematic illustration showing two differentexemplary configurations of the indicated area of detail of FIG. 8A; and

FIG. 8C is an enlarged schematic illustration of the indicated area ofdetail of FIG. 8A.

DETAILED DESCRIPTION

Hereinafter, embodiments of the presently-disclosed methods andapparatus for controlling surgical instruments using a port assembly aredescribed with reference to the accompanying drawings. Like referencenumerals may refer to similar or identical elements throughout thedescription of the figures. As shown in the drawings and as used in thisdescription, and as is traditional when referring to relativepositioning on an object, the term “proximal” refers to that portion ofthe device, or component thereof, closer to the user and the term“distal” refers to that portion of the device, or component thereof,farther from the user.

This description may use the phrases “in an embodiment,” “inembodiments,” “in some embodiments,” or “in other embodiments,” whichmay each refer to one or more of the same or different embodiments inaccordance with the present disclosure.

A minimally-invasive procedure may be defined as any procedure that isless invasive than open surgery used for the same purpose. As it is usedin this description, “endoscopic surgery” is a general term describing aform of minimally-invasive surgery in which access to a body cavity isachieved through several small percutaneous incisions. While endoscopicsurgery is a general term, “laparoscopic” and “thoracoscopic” describeendoscopic surgery within the abdomen and thoracic cavity, respectively.

As it is used in this description, “transmission line” generally refersto any transmission medium that can be used for the propagation ofsignals from one point to another.

Various embodiments of the present disclosure provide a port assemblyadapted to hold and control the movement and/or positioning of ansurgical instrument, such as, without limitation, an endoscopic camera.Embodiments of the presently-disclosed port assembly may be suitable foruse in laparoscopic procedures as well as other minimally-invasivesurgical procedures.

Various embodiments of the present disclosure provide ansurgical-instrument-and-port-assembly assembly. Embodiments may be usedin minimally-invasive procedures, e.g., endoscopic and laparoscopicsurgical procedures. Portions of the presently-disclosedsurgical-instrument-and-port-assembly assembly may be disposable,replaceable and/or reusable.

Various embodiments of the present disclosure provide a port assembly(also referred to herein as a smart port) wherein control of themovement and/or positioning of a surgical instrument may be performedmanually or automatically depending on the preference of the surgeon. Insome embodiments, an instrument used in a surgical procedure (alsoreferred to herein as a surgical instrument) may be provided with a userinterface including one or more user-actuateable controls and a wirelesstransmitter to provide a communicative link between the user interfaceand the port assembly, e.g., to allow the surgeon to change the positionand/or orientation of the endoscopic camera.

During minimally-invasive surgical procedures, the working end of aninstrument is frequently located near the anatomical structure ofinterest and/or the surgical site within the working envelop. In someembodiments, wherein automatic control is employed for controlling themovement and/or positioning of an endoscopic camera, a sensor and/ortransmitter may be disposed in association with the working end of aninstrument, e.g., located on the tip of the instrument, and theendoscopic camera may be automatically controlled to “track” themovement of the instrument tip (e.g., align the field of view of thecamera with the working end of the instrument) based on one or moresignals outputted by the sensor and/or transmitter. In some embodiments,the sensor and/or transmitter may include an attachment mechanism, e.g.,an adhesive backing, to allow the surgeon to selectively position thesensor and/or transmitter on a particular instrument and/or at aparticular location on a select instrument, e.g., depending on surgeonpreference, the type of surgery, etc.

Some examples of instruments used in minimally-invasive proceduresinclude graspers, cutters, forceps, dissectors, sealers, dividers, orother tools suitable for use in the area of the anatomical structure ofinterest. The instrument may be a standalone tool suitable for usewithin a body cavity or external to the patient's body cavity.

In some embodiments, the controls may include an attachment mechanism,e.g., an adhesive backing, to allow the physician to selectivelyposition the controls on a particular instrument and/or at a preferredlocation on a select instrument. In some embodiments, the capability maybe provided to interface with an existing operating-room managementsystem, e.g., using speech recognition technology, to control one ormore settings of operating-room equipment. In some embodiments, the portassembly may be a standalone tool that interfaces with any suitableendoscopic camera.

FIG. 1 shows a bipolar forceps 10 and an embodiment of a port assembly105 coupled to an endoscopic camera 120 according to the presentdisclosure. Endoscopic camera 120 generally includes an elongated shaft121 having a distal shaft section 126. In some embodiments, amulti-functional sensor 168 is disposed in association with the distalshaft section 126. In some embodiments, the multi-functional sensor 168provides illumination and houses a camera chip. It is to be understoodthat other sensor embodiments may be utilized. Sensor 168 is operablycoupled to a power source (e.g., power supply 315 shown in FIG. 3) via atransmission line 132 coupled to the endoscopic camera 120. AlthoughFIG. 1 depicts a bipolar forceps 10 for use in connection withendoscopic surgical procedures, the endoscopic camera 120 and portassembly 105, when operably coupled together (shown generally as 100 inFIG. 1), may be used with a variety of instruments, e.g., depending onthe type of surgery.

Port assembly 105 generally includes a body 110 and a control interface181. Body 110 includes an exterior surface 111, an interior surface 113,and an interior space 119 defined by the interior surface 113. In FIG.1, the exterior surface 111 of the body 110 is shown disposed insealable contact with tissue 101 at an entry site into the patient'sbody cavity 102. Body 110 is adapted to allow access into the bodycavity 102, e.g., to allow access of instruments therethrough, and mayinclude sealing elements or mechanisms to seal the opening into the bodycavity 102, e.g., to prevent the escape of insufflation gas. Body 110may be formed of any suitable material such as a metal, alloy, compositematerial or any combination of such materials.

Control interface 181 includes a plurality of drive members (e.g., drivemembers 118 a, 118 b and 118 c shown in FIG. 1) coupled to, or otherwisedisposed in association with, the body 110. In some embodiments, one ormore of the drive members may include an electric motor, e.g., a rotarymotor or a linear motor, coupled to the body 110.

In some embodiments, each drive member is controllable to apply a forceto a different portion of the shaft 121 of the endoscopic camera 120(i.e., when the shaft 121, or portion thereof, is disposed within theinterior space 119) to move a distal shaft section 126 of the endoscopiccamera 120 to a desired position within the body cavity 102. As shown inFIG. 1, a first portion 122 of the shaft 121 of the endoscopic camera120 may be disposed within the interior space 119 of the body 110 of theport assembly 105, and a second portion 124 of the shaft 121, includingthe distal shaft section 126, may be disposed within the body cavity102.

Control interface 181 is adapted to controllably move and/or positionthe distal shaft section 126 of the endoscopic camera 120 within thebody cavity 102. In some embodiments, the control interface 181 may beadapted to receive input signals from a user interface (e.g., userinterface 140 disposed in association with the forceps 10 shown in FIG.1). Based on the input signals, the control interface 181 may adjust thespatial aspects of the endoscopic camera 120 and/or perform othercontrol functions, alarming functions, or other functions in associationtherewith. Some examples of spatial aspects associated with theendoscopic camera 120 that may be adjusted include tilt angle (e.g.,relative to a longitudinal axis of the body 110) and the length of theshaft 121 portion extended into the body cavity 102.

Control interface 181 may be implemented, in conjunction with suitableelectronics (e.g., hardware, software or firmware), using a variety ofmodalities, such as, without limitation, mechanical multi-dimensioncontrolled levers or gears, broader area flexible holders (e.g.,multi-chamber) with pneumatic, hydraulic or other actuators that controlshape of the holder and the resultant movement and/or control of theendoscopic camera.

Control interface 181 generally includes a plurality of drive members(e.g., 219 a-219 n and 216 a-216 n shown in FIG. 2) coupled to the body110, e.g., disposed in opposing relation to one another. In someembodiments, as shown in FIG. 1, the control interface 181 includes twoengagement members 112 and 115 (e.g., roller members) disposed inopposing relation to one another, e.g., adapted to effect upward ordownward movement of the shaft 121. In some embodiments, the controlinterface 181 includes a plurality of engagement members (e.g., sixengagement members 118 a, 118 b, 118 c, 114 a, 114 b and 114 c) adaptedto change the tilt angle of the shaft 121, e.g., with respect to alongitudinal axis 220 of the body 110. One or more engagement members118 a, 118 b, 118 c, 114 a, 114 b and 114 c may be configured to apply aforce to the shaft 121 in a direction perpendicular to a longitudinalaxis 220 of the body 110 and/or perpendicular to a longitudinal axis ofthe port assembly 105.

In some embodiments, one or more first drive members are coupled to afirst side of the body 110 along a longitudinal axis of the portassembly 105 and adapted to impart reciprocalable movement to one ormore engagement members (e.g., three engagement members 114 a, 114 b and114 c), and one or more second drive members are coupled to a secondside of the body 110 along a longitudinal axis of the port assembly 105and adapted to impart reciprocalable movement to one or more engagementmembers (e.g., three engagement members 118 a, 118 b and 118 c). The oneor more first drive members and the one or more second drive members mayform a set of drive members, wherein the set of drive members may beconfigured to operate in coordination to change the position of thedistal shaft section 126 of the endoscopic camera 120.

In some embodiments, as shown in FIG. 1, the port assembly 105 iscoupled to a holding member 150. Holding member 150 may be adapted to beattachable to a table to provide support for the port assembly 105,e.g., to provide additional stability and/or reduce the weight of thetool on the patient's body. Although FIG. 1 depicts an endoscopic camera120, the port assembly 105 may be used with a wide variety of surgicalinstruments or other tools having a shaft suitably configured to bereceivable within the interior space 119 of the port assembly 105.

In FIG. 1, an embodiment of an endoscopic bipolar forceps 10 is shownfor use with various surgical procedures and generally includes ahousing assembly 20, a handle assembly 30, and an end-effector assembly22. Forceps 10 includes a shaft 12 that has a distal end 16 configuredto mechanically engage the end-effector assembly 22 and a proximal end14 configured to mechanically engage the housing assembly 20.End-effector assembly 22 generally includes a pair of opposing jawassemblies 23 and 24 pivotably mounted with respect to one another. Ascan be appreciated, squeezing the movable handle 40 toward the fixedhandle 50 pulls a drive sleeve (not shown) proximally to impart movementto the jaw assemblies 23 and 24 from an open position, wherein the jawassemblies 23 and 24 are disposed in spaced relation relative to oneanother, to a clamping or closed position, wherein the jaw assemblies 23and 24 cooperate to grasp tissue therebetween.

A transmission line operably connects the forceps 10 to anelectrosurgical power generating source 28. Forceps 10 may alternativelybe configured as a wireless device or battery-powered. Forceps 10includes a switch 65 configured to permit the user to selectivelyactivate the forceps 10. When the switch 65 is depressed,electrosurgical energy is transferred through one or more electricalleads (not shown) to the jaw assemblies 23 and 24.

In some embodiments, as shown in FIG. 1, the forceps 10 includes a userinterface 140, which may be adapted to provide a wireless communicationinterface with the control interface 181 of the port assembly 105.Additionally, or alternatively, the forceps 10 may include a sensorand/or transmitter 141, e.g., disposed in association with the endeffector assembly 22, or component thereof, e.g., jaw assembly 23.

User interface 140 may be disposed on another part of the forceps 10(e.g., the fixed handle 50, etc.) or another location on the housingassembly 20. User interface 140 may include one or more controls (e.g.,two controls 142 and 143 shown in FIG. 1), which may include a switch(e.g., pushbutton switch, toggle switch, slide switch) and/or acontinuous actuator (e.g., rotary or linear potentiometer, rotary orlinear encoder). In some embodiments, the user interface 140 includes afirst control (e.g., control 142) adapted to transmit signals indicativeof user intent to effect upward or downward movement of the endoscopiccamera 120 within the body cavity 102, e.g., used for controlling thedrive members 112 and 115. User interface 140 may additionally, oralternatively, include a second control (e.g., control 143) adapted totransmit signals indicative of user intent to adjust the tilt angle ofthe endoscopic camera 120, e.g., used for controlling the movement ofthe engagement members 118 a, 118 b, 118 c, 114 a, 114 b and 114 c.

In some embodiments, the control interface 181 of the port assembly 105is communicatively coupled to the sensor and/or transmitter 141. Controlinterface 181 may include a receiver (e.g., receiver 339 shown in FIG.3), and may be adapted to controllably move and/or position the distalshaft section 126 of the endoscopic camera 120 within the body cavity102 using one or more electrical signals received from the sensor and/ortransmitter 141. In some embodiments, the user interface 140 includes afirst control (e.g., control 142) adapted to transmit signals indicativeof user intent to activate an automatic-control mode of operation of theport assembly 105 to automatically align the field of view of the camerawith the working end of a surgical instrument (e.g., forceps 10) basedon one or more signals outputted by the sensor and/or transmitter 141,and may include a second control (e.g., control 143) adapted to transmitsignals indicative of user intent to deactivate the automatic-controlmode of operation.

FIG. 2 shows an embodiment of a port assembly 205 coupled to theendoscopic camera 120 of FIG. 1. Port assembly 205 generally includes abody 210 and a control interface 281. Control interface 281 generallyincludes a plurality of drive members operably coupled to a plurality ofdrivers.

As shown in FIG. 2, the control interface 281 includes two drive members212 and 215 disposed in opposing relation to one another at the proximalend of the body 210 and operably coupled to two drivers 223 and 226,respectively. Drivers 223 and 226 may include an electric motor coupledto the body 210. In some embodiments, the drivers 223 and 226 may beadapted to impart rotational movement to the drive members 212 and 215,respectively, e.g., to effect upward or downward movement of the shaft121 and/or to translate the endoscopic camera 120 along a longitudinalaxis thereof. In some embodiments, each of the drive members 212 and 215includes a roller member, and the drivers 223 and 226 may include rotarymotors mechanically coupled to the roller members.

Control interface 281 includes a plurality of drive members 219 a-219 nand 216 a-216 n operably coupled to drivers 217 a-217 n and 213 a-213 n,respectively. In some embodiments, the control interface 281 may includea plurality of engagement members 218 a-218 n and 214 a-214 n operablycoupled to the drive members 219 a-219 n and 216 a-216 n, respectively.In some embodiments, the drive members 219 a-219 n and the engagementmembers 218 a-218 n, respectively, may be integrally formed unitarystructures, and/or the drive members 216 a-216 n and the engagementmembers 214 a-214 n, respectively, may be integrally formed unitarystructures.

In some embodiments, the drivers 217 a-217 n and 213 a-213 n are adaptedto impart reciprocalable movement to the drive members 219 a-219 n and216 a-216 n, respectively, e.g., to change the tilt angle of the shaft121, e.g., with respect to a longitudinal axis 220 of the body 210.Drivers 217 a-217 n and 213 a-213 n and/or the drive members 219 a-219 nand 216 a-216 n may additionally, or alternatively, be adapted to impartreciprocalable movement to the engagement members 218 a-218 n and 214a-214 n, respectively, e.g., to change the tilt angle (e.g., angle 321shown in FIG. 3) of the shaft 121.

Control interface 281 may include a receiver (e.g., receiver 339 shownin FIG. 3), and may be adapted to controllably move and/or position thedistal shaft section 126 of the endoscopic camera 120 using on one ormore electrical signals received from a sensor and/or transmitter (e.g.,sensor and/or transmitter 141 shown in FIG. 1) disposed in associationwith an instrument. Endoscopic camera 120 and the port assembly 205,when operably coupled together (shown generally as 200 in FIG. 2), maybe suitable for use in connection with a variety of procedures involvingdifferent instruments, e.g., bipolar forceps 10 of FIG. 1.

FIG. 3 illustrates a functional block diagram of a system 300 includingan embodiment of a control interface 381 operably coupled to a portionof the shaft 121 of the endoscopic camera 120 (shown in FIGS. 1 and 2).Control interface 381, or portions thereof, may be used with one or moreof the presently-disclosed port assembly embodiments, e.g., portassembly 118 shown in FIG. 1, or port assembly 218 shown in FIG. 2.

System 300 includes a plurality of drive members 310 a-310 n, aplurality of drivers 313 a-313 n coupled to the drive members 310 a-310n, respectively, a controller 317 communicatively coupled to the drivers313 a-313 n, and a user interface 331 communicatively coupled to thecontroller 317. System 300 may additionally include a plurality ofengagement members 311 a-311 n coupled to the drive members 310 a-310 n,respectively. In some embodiments, during operation of the controlinterface 381 to move and/or position the distal shaft section 126 ofthe endoscopic camera 120 within the body cavity 102 (shown in FIG. 1),one or more of the engagement members 311 a-311 n may be actuated toapply force to one or more different portions of the shaft 121.

System 300 includes a power supply 315. Drivers 313 a-313 n may beelectrically coupled via a transmission line 132 to the power supply315. The various components in the system 300 may be electricallycoupled by one or more signal lines or communication buses of one formor another.

Controller 317 is configured to generate one or more electrical signalsfor controlling operation of one or more components of the system 300,and may be configured to use position data 333 received from the drivemembers 310 a-310 n. Controller 317 may be configured to generate one ormore electrical signals for controlling one or more of the drivers 313a-313 n, which, in turn, may transmit one or more electrical signals toone or more of the drive members 310 a-310 n for actuating one or moreof the engagement members 311 a-311 n to apply force to the shaft 121.

In some embodiments, the shaft 121 may be disposed within an interfacemember (e.g., inner tubular member 505 shown in FIG. 5) configured tointerface with the shaft 121 to form a seal between the port assemblyand the shaft 121, wherein one or more of the engagement members 311a-311 n may be disposed in contact with the interface member.

In some embodiments, responsive to one or more electrical signalsreceived from the controller 317, the driver 313 a and/or the drivemember 310 a may be adapted to impart rotational movement to theengagement member 311 a, e.g., to effect upward and/or downward movement323 of the shaft 121 and/or to translate the endoscopic camera 120 alonga longitudinal axis thereof. In some embodiments, responsive to one ormore electrical signals received from the controller 317, the drivers313 b-313 n and/or the drive members 310 b-310 n may be adapted toimpart reciprocalable movement to the engagement members 311 a-311 n,respectively, e.g., to change the tilt angle 321 of the shaft 121. Asshown in FIG. 3, the tilt angle 321 may be defined with respect to alongitudinal axis 320 of the shaft 121 and a longitudinal axis 220 ofthe body (e.g., body 110 shown in FIG. 1, or body 210 shown in FIG. 2)of the port assembly.

System 300 may include a storage device 388. Storage device 388 mayinclude a set of executable instructions for performing a method ofcontrolling surgical instruments using a port assembly as describedherein In some embodiments, as shown in FIG. 3, the system 300 includesa processing unit 330.

Processing unit 330 may include any type of computing device,computational circuit, or any type of processor or processing circuitcapable of executing a series of instructions that are stored in amemory, e.g., storage device 388 and/or external device 391. In someembodiments, the user interface 331 may be communicatively coupled tothe processing unit 330. Processing unit 330 and the controller 317 maybe separate components or may be integrated, such as in one or moreintegrated circuits. In some embodiments, processing unit 330 may beconfigured to execute a set of programmed instructions for performingthe functionality of the controller 317. Processing unit 330 mayadditionally, or alternatively, be configured to execute a set ofprogrammed instructions for performing a method of controlling surgicalinstruments using a port assembly as disclosed herein.

System 300 may also include a database (not shown) communicativelycoupled to the processing unit 330 and configured to store and retrievedata, e.g., transmitter 337 identification information associated withone or more surgical instruments (e.g., forceps 10 shown in FIG. 1). Thedatabase may be maintained at least in part by data provided by anexternal device 391.

FIG. 4 shows a portion of a port assembly 405 according to an embodimentof the present disclosure that is operably coupled to a portion of theshaft 121 of the endoscopic camera 120 shown in FIGS. 1 and 2. Portassembly 405 generally includes a body 410 and a control interface 481.Port assembly 405 includes a retaining member 416 configured to hold theshaft 121 at a position “P” within the body 410. In some embodiments,the position “P” may be located at the midpoint of the length of thebody 410.

Retaining member 416 is configured to provide stability to the shaft 121and allow upward and/or downward movement 323 of the shaft 121. In someembodiments, as shown in FIG. 4, the retaining member 416 includes twoarm members 413 a and 413 b disposed in opposing relation to oneanother. Arm members 413 a and 413 b include a first end and a secondend. Arm members 413 a and 413 b are coupled to the body 410 at thefirst ends thereof. Retaining member 416 may include two engagementmembers 412 a and 412 b disposed at the second ends of the arm members413 a and 413 b, respectively. In some embodiments, the engagementmembers 412 a and 412 b are disposed in contact with the shaft 121 andconfigured to allow the shaft to be slideably moveable therebetween.Although one retaining member is shown in FIG. 4, it is to be understoodthat the port assembly 405 may include any suitable configuration of oneor more retaining members disposed at one or more positions within thebody 410.

Control interface 481 generally includes a plurality of drive membersoperably coupled to a plurality of drivers. In some embodiments, asshown in FIG. 4, the control interface 481 includes the drive member 310a and the engagement member 311 a shown in FIG. 3. Drive member 310 amay be adapted to impart rotational movement to the engagement member311 a, e.g., to effect upward and/or downward movement 323 of the shaft121. Control interface 481 includes two drivers 417 a and 417 b and twodrive members 414 a and 414 b operably coupled to the drivers 417 a and417 b, and may include two engagement members 411 a and 411 b operablycoupled to the drive members 414 a and 414 b, respectively. In someembodiments, the drive members 414 a and 414 b may be adapted to impartreciprocalable movement to the engagement members 411 a and 411 b,respectively, e.g., to change the tilt angle 321 of the shaft 121. Insome embodiments, as shown in FIG. 4, the drivers 417 a and 417 binclude a piston 415 a and 415 b, respectively, operably coupled to thedrive members 414 a and 414 b, respectively. Drivers 417 a and/or thedriver 417 b may include a pressurized fluid chamber, wherein the piston415 a and/or the piston 415 b is disposed in association with thepressurized fluid chamber.

Port assembly 405 may include one or more of the components of thesystem 300 shown in FIG. 3. Endoscopic camera 120 and the port assembly405, when operably coupled together (shown generally as 400 in FIG. 4),may be suitable for use in connection with a variety of proceduresinvolving different instruments, e.g., bipolar forceps 10 of FIG. 1.

FIG. 5 shows a portion of a port assembly 505 according to an embodimentof the present disclosure that is operably coupled to a portion of theshaft 121 of the endoscopic camera 120 shown in FIGS. 1 and 2. Portassembly 505 includes a body 510, a control interface 581, and aflexible, inner tubular member 505.

Control interface 581 generally includes a plurality of drivers operablycoupled to a plurality of drive members. In some embodiments, as shownin FIG. 5, the shaft 121 is disposed within a flexible, inner tubularmember 505, and two engagement members 511 a and 511 b are disposed incontact with the inner tubular member 505. Control interface 581includes two drivers 510 a and 510 b and two drive members 513 a and 513b operably coupled to the drivers 510 a and 510 b. Drive members 513 aand 513 b are operably coupled to the engagement members 511 a and 511b.

In some embodiments, the drive members 513 a and 513 b may be adapted toimpart reciprocalable movement to the engagement members 511 a and 511b, respectively, e.g., to change the tilt angle 321 (shown in FIGS. 3and 4) of the shaft 121 and/or to move a distal shaft section 126 (shownin FIG. 1) to a desired position within the body cavity 102.

Control interface 581 may include one or more components of the controlinterface 381 shown in FIG. 3, e.g., the drive member 310 a and theengagement member 311 a, the controller 317, and/or the processing unit330. Port assembly 505 may additionally, or alternatively, include oneor more components of any of the presently-disclosed port assemblyembodiments (e.g., port assembly 105 shown in FIG. 1, port assembly 205shown in FIG. 2, or port assembly 405 shown in FIG. 4).

Hereinafter, a method of controlling surgical instruments using a portassembly, in accordance with the present disclosure, is described withreference to FIG. 6. It is to be understood that the steps of the methodprovided herein may be performed in combination and in a different orderthan presented herein without departing from the scope of thedisclosure.

FIG. 6 is a flowchart illustrating a method of controlling surgicalinstruments using a port assembly according to an embodiment of thepresent disclosure. In step 610, the position of a distal portion of asurgical instrument 10 is sensed. In some embodiments, sensing theposition of the distal portion of the surgical instrument 10, in step610, may include sensing the signal transmitted from a transmitter 141disposed on a distal portion of the surgical instrument 10.

In step 620, a determination is made whether a button 142 disposed onthe surgical instrument 10 is activated.

If it is determined that the button 142 is activated, in step 620, then,in step 630, one or more drive members 219 a-219 n and 216 a-216 ndisposed in association with a body 210 of a surgical port assembly 205are used to move a distal portion 126 of the endoscopic camera 120 to aposition that is aligned with the sensed position of the distal portionof the surgical instrument 10. In some embodiments, controlling thesurgical port assembly 205 to move the distal portion 126 of theendoscopic camera 120 to another position based on the position of thedistal portion of the surgical instrument 10, in step 630, includescontrolling the surgical port assembly 205 to move the distal portion ofthe endoscopic camera 120 to another position based on the signaltransmitted from the transmitter 141.

FIG. 7 shows a surgical robotic system 1000. Robotic system 1000 mayinclude two or more supporting arms 1002, 1003, each attached to arespective port assembly 405; a control device 1004; and an operatingconsole 1005 coupled with control device 1004. Supporting arms 1002,1003 may be robotically moving arms or they may be manually adjusted.Supporting arms 1002, 1003 may be coupled to their respective portassemblies 405 to hold the port assemblies 405 in a predetermined fixedposition during surgery to prevent unintentional movement of the portassembly 405 during the surgical procedure. In some instances one ormore of the supporting arms 1002, 1003 may be affixed to the operatingtable 1012 supporting the patient 1013 or they may be affixed to anothersteady supporting object such as a wall, ceiling, or moveable cartlocated near the patient table 1012.

Operating console 1005 may include a display device 1006, which is setup in particular to display two- and/or three-dimensional imagesobtained from an image capture device inserted into the patient; andmanual input devices 1007, 1008, by means of which a person (not shown),for example a surgeon, is able to telemanipulate one or more componentsof the surgical system 1000. For example, in some instances the personmay be able to telemanipulate one or more components in a port assembly405 to manipulate a surgical instrument 1400 inserted in the portassembly 405. The person may also be able to telemanipulate supportingarms 1002, 1003 (to the extent that the arms 1002, 1003 are robotic) insome instances. The person may also be able to telemanipulate othercomponents in the surgical instrument, such as opening and closing agrasper affixed to the end of a surgical instrument inserted into theport assembly 405 via a drive unit coupled to the component in thesurgical instrument.

Each of the supporting arms 1002, 1003 may include two or more membersconnected through joints. One or more of the members or joints may bemanually and/or robotically adjustable. System 1000 may also include oneor more drive units. A drive unit may drive one or more of the joints ormembers in the supporting arms 1002, 1003. A drive unit may drive one ormore components in the port assembly 405 to manipulate the positionand/or orientation of a surgical instrument 1400 inserted into the portassembly 405. A drive unit may drive one or more components in thesurgical instrument 1400 to manipulate a component, such as an endeffector, that is part of the surgical instrument 1400.

Control device 1004 (e.g., a computer) may be set up to activate one ormore of the drive units, in particular by means of a computer program,in such a way that the supporting arms 1002, 1003; components of theport assemblies 405; and/or components of the surgical instruments 1400(such as an end effector) execute a desired movement according to amovement defined by means of manual input devices 1007, 1008. Controldevice 1004 may also be set up in such a way that it regulates themovement of robotic arms 1002, 1003 and/or surgical instruments 1400 inthe port assemblies 405.

Surgical system 1000 may be configured for use on a patient 1013 lyingon a patient table 1012 to be treated in a minimally invasive manner bymeans of an end effector. Surgical system 1000 may also include morethan two supporting arms 1002, 1003 and port assemblies 405, theadditional arms likewise being connected to control device 1004 andbeing telemanipulatable by means of operating console 1005. Similar ordifferent surgical instruments 1400 may be inserted in one or more ofthe port assemblies 405. Surgical instruments 1400 may further includean elongate body or tube 1404 supporting an end effector that may beconfigured for performing one or more surgical functions.

Control device 1004 may control a drive unit such as a motor that may beconfigured to drive a pushing or a pulling of a cable or rod (not shown)extending between an end effector of surgical instrument 1400 and arespective driven member of surgical instrument 1400, as describedherein. In use, as cables or rods may be pushed or pulled relative toend effector, cables or rods effect operation and/or movement of eachend effector of a surgical instrument 1400. It is contemplated thatcontrol device 1004 coordinates the activation of the various motors tocoordinate a pushing or a pulling motion of a respective cable in orderto coordinate an operation and/or movement of a respective end effectorof a surgical instrument 1400. In embodiments, each motor may beconfigured to actuate a drive rod or a lever arm to effect operationand/or movement of each end effector of surgical instrument 1400.

FIGS. 8A-8C show an exemplary configuration of a port assembly 405. Portassembly 405 may include a retaining mechanism 416 configured to holdelongate body 1404 of surgical instrument 1400 at a pivot location orposition “P” within the body 410 of port assembly 405. In someembodiments, the position “P” may be located co-planar with, inparallelism with or in close proximity to tissue 101.

Retaining mechanism 416 may be configured to provide stability toelongate body 1404 of surgical instrument 1400, to allow upward and/ordownward movement 323 a of elongate body 1404 about a longitudinal axisthereof, and rotational movement 323 b of elongate body 1404 about thelongitudinal axis thereof.

In some embodiments, as shown in FIGS. 8A and 8B, the retainingmechanism 416 may include at least three equally, radially spaced apartballs 418 a, 418 b, and 418 c. Other embodiments may include less thanthree balls provided that the elongate body 1404 is still adequatelysupported by another object(s). Balls 418 a-418 c may be biased towardone another, such as by springs or the like. Each ball 418 a-418 c maybe rotatably supported in body 410 of port assembly 405 so as to be ableto rotate freely therewithin. Each ball 418 a-418 c may be supported inbody 410 of port assembly 405 so as to be at a fixed location along alength of port assembly 405.

At least one ball 418 a, 418 b or 418 c of balls 418 a-418 c may bemotorized or driven, while the remaining ball(s) 418 a-418 c remainpassive. For example, a first ball 418 a may be driven by a pair ofmotorized rollers 419 a, 419 b that are each in contact with a surfaceof first ball 418 a. Each roller 419 a, 419 b may be driven by arespective motor 420 a, 420 b.

In some instances, two or more of the balls 418 a, 418 b, and 418 c maybe motorized. Each of the motorized balls 418 a, 418 b, and/or 418 c maybe driven by a pair of respective motorized rollers similar to rollers419 a and 419 b. In some instances, one of the motorized balls 418 a,418 b, or 418 c may be actuated about a first axis and another of themotorized balls 418 a, 418 b, or 418 c may be actuated about a secondaxis different from the first axis. The second axis may be perpendicularto the first axis.

In operation, depending on a relative actuation of motors 420 a, 420 b,and in turn rollers 419 a, 419 b, first ball 418 a may be spun orrotated to effectuate longitudinal movement 323 a of elongate body 1404of surgical instrument 1400 about a longitudinal axis thereof and/orrotational movement 323 b of elongate body 1404 of surgical instrument1400 about the longitudinal axis thereof.

In other embodiments, such as shown in the second of two exemplaryalternative configurations in FIG. 8B, one or more of the balls may beremoved and one or more of the motorized rollers 419 a, 419 b maydirectly contact the elongate body 1404 of surgical instrument 1400 toallow upward and/or downward movement 323 a of elongate body 1404 abouta longitudinal axis thereof, and rotational movement 323 b of elongatebody 1404 about the longitudinal axis thereof depending on how therespective motors 420 a, 420 b are actuated.

With continued reference to FIGS. 8A-8C, port assembly 405 may furtherinclude a pivoting mechanism 422 configured to pivot elongate body 1404of surgical instrument 1400 about pivot location or position “P” withinthe body 410 of port assembly 405.

In some embodiments, as shown in FIGS. 8A and 8C, the pivoting mechanism422 may include a pair of cam plates 424, 426 overlaying one another.Each plate 424, 426 may be arcuate or curved. Each plate 424, 426 maydefine an elongate slot 424 a, 426 a therein, wherein elongate slots 424a, 426 a intersect one another.

Each plate 424, 426 may be supported in body 410 of port assembly 405 soas to be translatable therewithin. Each plate 424, 426 may be supportedin body 410 of port assembly 405 so as to be at a fixed location along alength of port assembly 405 and pivoting mechanism 422 may be spaced atan axial distance from retaining mechanism 416.

Each plate 424, 426 may be translated axially by a respective motor 420c, 420 d that is threadingly connected to plate 424, 426 by a rotatableshaft. In use, as each plate is axially translated, relative to oneanother, an intersecting point of each slot 424 a, 426 a formed thereinmay be relocated relative to a central axis of body 410 of port assembly405.

In some instances, each plate may be in the form of a disc with eachdisc defining an elongate linear or arcuate slot formed therein. Thepair of discs may be parallel to one another and may be independentlyrotatable relative to one another, about a central pivot axis thereof,such as by a respective motor or the like. The central axis of each isco-linear with the central axis of body 410 of port assembly 405. Inuse, as each plate is rotated about its central pivot axis, relative toone another, an intersecting point of each slot formed therein may berelocated relative to the central axis of body 410 of port assembly 405.With elongate body 1404 of surgical instrument 1400 extending throughthe intersecting point of the slot of each disc, as the discs arerotated relative to one another, about the central pivot axis thereof,elongate body 1404 of surgical instrument 1400 may be pivoted relativeto the central axis of body of port assembly 405.

In operation, with elongate body 1404 of surgical instrument 1400passing through each slot 424 a, 426 a of plates 424, 426, depending ona relative actuation of motors 420 c, 420 d, and in turn the relativeintersection point of slots 424 a, 426 a of plates 424, 426, elongatebody 1404 of surgical instrument 1400 may be tilted or pivoted relativeto pivot point “P”.

Although embodiments have been described in detail with reference to theaccompanying drawings for the purpose of illustration and description,it is to be understood that the inventive processes and apparatus arenot to be construed as limited thereby. It will be apparent to those ofordinary skill in the art that various modifications to the foregoingembodiments may be made without departing from the scope of thedisclosure.

What is claimed is:
 1. A surgical port assembly for use with surgicalinstruments, comprising: a body including an exterior surface and aninterior space defined by an interior surface of the body, the bodydefining a longitudinal axis; and a control interface including aplurality of drive members coupled to the body, at least one drivemember including an arm and an engagement member supported on the arm,the engagement member positionable at an angle relative to the arm andthe longitudinal axis of the body, the engagement member positioned tomove linearly in a direction that extends across the longitudinal axisof the body to apply a linear force to a first portion of a shaft of asurgical instrument, when the shaft is disposed within the interiorspace, and to selectively tilt the surgical instrument away from thelongitudinal axis to move a distal portion of the surgical instrument toa desired position within a body cavity.
 2. The surgical port assemblyof claim 1, wherein the at least one drive member is configured to applythe linear force to the surgical instrument in a direction perpendicularto the longitudinal axis of the body.
 3. The surgical port assembly ofclaim 1, further comprising an interface member coupled to the pluralityof drive members, the interface member configured to interface with thesurgical instrument to form a seal between the surgical port assemblyand the surgical instrument.
 4. The surgical port assembly of claim 1,wherein the control interface further includes a plurality of drivers,at least one of the plurality of drivers including an electric motorcoupled to the body, wherein at least one of the plurality of drivemembers is operatively coupled to the electric motor, the electric motorconfigured to drive the at least one drive member to apply force to thesurgical instrument when the surgical instrument is placed in thesurgical port assembly.
 5. The surgical port assembly of claim 4,wherein at least one of the plurality of drivers includes a pressurizedfluid chamber, at least one of the plurality of drive membersoperatively coupled to the pressurized fluid chamber, the pressurizedfluid chamber configured to drive the drive member to apply force to thesurgical instrument when the surgical instrument is placed in thesurgical port assembly.
 6. The surgical port assembly of claim 1,wherein the plurality of drive members include at least two first drivemembers coupled to a first side of the body along the longitudinal axisof the surgical port assembly, and at least two second drive memberscoupled to a second side of the body along the longitudinal axis of thesurgical port assembly, the at least two first drive members and the atleast two second drive members forming a set of drive members, the setof drive members configured to operate in coordination to change theposition of the distal portion of the surgical instrument.
 7. Thesurgical port assembly of claim 6, further comprising a second set ofdrive members configured to operate in coordination to change theposition of the distal portion of the surgical instrument in a directiondifferent from the direction in which the first set of drive memberschanges the position of the distal portion of the surgical instrument.8. The surgical port assembly of claim 1, further comprising a holdingmember coupled to the body, the holding member configured to maintain aportion of the surgical instrument in a fixed position with respect tothe body, the holding member allowing the distal portion of the surgicalinstrument to move in all directions.
 9. A surgical port systemincluding the surgical port assembly of claim 1, the surgical portsystem further including a surgical instrument, wherein the surgicalinstrument includes an endoscopic camera.
 10. The surgical port systemof claim 9, wherein the control interface of the surgical port assemblyfurther includes at least one driver coupled to at least a first one ofthe plurality of drive members.
 11. The surgical port system of claim10, wherein the first one of the plurality of drive members includes aroller member, and wherein the at least one driver includes a rotarymotor mechanically coupled to the roller member, the roller memberconfigured to interface with the surgical instrument and to translatethe endoscopic camera along a longitudinal axis of the surgicalinstrument.
 12. A method of controlling a surgical instrument using asurgical port assembly, the method comprising: sensing a position of adistal portion of the surgical instrument relative to a body of thesurgical port assembly, the body defining a longitudinal axis;determining whether a button disposed on the surgical instrument isactivated; linearly actuating an engagement member of at least one drivemember supported by the body of the surgical port assembly; andpositioning the engagement member at an acute angle relative to thelongitudinal axis of the body to selectively tilt the surgicalinstrument away from the longitudinal axis of the body to move thedistal portion of the surgical instrument to a position that is alignedwith a sensed position of the distal portion of the surgical instrumentwhen it is determined that the button is activated.
 13. The method ofclaim 12, wherein sensing the position of the distal portion of thesurgical instrument includes sensing a signal transmitted from atransmitter disposed on the distal portion of the surgical instrument.14. The method of claim 13, further comprising moving the distal portionof the surgical instrument to another position based on the signaltransmitted from the transmitter.